Human-to-humanoid imitation learning aims to learn a humanoid whole-body controller from human motion. Motion retargeting is a crucial step in enabling robots to acquire reference trajectories when exploring locomotion skills. However, current methods focus on motion retargeting frame by frame, which lacks scalability. Could we directly convert large-scale human motion into robot-executable motion through a more efficient approach? To address this issue, we propose Implicit Kinodynamic Motion Retargeting (IKMR), a novel efficient and scalable retargeting framework that considers both kinematics and dynamics. In kinematics, IKMR pretrains motion topology feature representation and a dual encoder-decoder architecture to learn a motion domain mapping. In dynamics, IKMR integrates imitation learning with the motion retargeting network to refine motion into physically feasible trajectories. After fine-tuning using the tracking results, IKMR can achieve large-scale physically feasible motion retargeting in real time, and a whole-body controller could be directly trained and deployed for tracking its retargeted trajectories. We conduct our experiments both in the simulator and the real robot on a full-size humanoid robot. Extensive experiments and evaluation results verify the effectiveness of our proposed framework.

A neural network is a composition of neurons, where each neuron can be represented as a nonlinear function depending on inputs and parameters, called weights and biases. The nonlinearity of the network can be understood via tropical geometry, in particular for networks with ReLU activation functions, which are piecewise linear. For such networks, we introduce an algorithm to compute all linear regions of a neural network. A linear region of a neural network is a connected region on which the map defined by the network is linear. Knowing those linear regions allows for quicker predictions, as demonstrated by our new caching algorithm. Our algorithms work for networks with skip connections. Skip connections add the output of previous layers to the input of later layers, skipping over the layers in between. The expository paper [2] offers promising avenues to study neural networks.

AI co-writing systems challenge long held ideals about agency and ownership in the creative process, thereby hindering widespread adoption. In order to address this, we investigate conceptions of agency and ownership in AI creative co-writing. Drawing on insights from a review of commercial systems, we developed three co-writing systems with identical functionality but distinct interface metaphors: agentic, tool-like, and magical. Through interviews with professional and non-professional writers (n = 18), we explored how these metaphors influenced participants' sense of control and authorship. Our analysis resulted in a taxonomy of agency and ownership subtypes and underscore how tool-like metaphors shift writers' expected points of control while agentic metaphors foreground conceptual contributions. We argue that interface metaphors not only guide expectations of control but also frame conceptions of authorship. We conclude with recommendations for the design of AI co-writing systems, emphasizing how metaphor shapes user experience and creative practice.

We introduce Region-Aware Deformable Convolution (RAD-Conv), a new convolutional operator that enhances neural networks' ability to adapt to complex image structures. Unlike traditional deformable convolutions, which are limited to fixed quadrilateral sampling areas, RAD-Conv uses four boundary offsets per kernel element to create flexible, rectangular regions that dynamically adjust their size and shape to match image content. This approach allows precise control over the receptive field's width and height, enabling the capture of both local details and long-range dependencies, even with small 1x1 kernels. By decoupling the receptive field's shape from the kernel's structure, RAD-Conv combines the adaptability of attention mechanisms with the efficiency of standard convolutions. This innovative design offers a practical solution for building more expressive and efficient vision models, bridging the gap between rigid convolutional architectures and computationally costly attention-based methods.

Large Vision-Language Models (LVLMs) exhibit strong multimodal capabilities but remain vulnerable to hallucinations from intrinsic errors and adversarial attacks from external exploitations, limiting their reliability in real-world applications. We present ORCA, an agentic reasoning framework that improves the factual accuracy and adversarial robustness of pretrained LVLMs through test-time structured inference reasoning with a suite of small vision models (less than 3B parameters). ORCA operates via an Observe--Reason--Critique--Act loop, querying multiple visual tools with evidential questions, validating cross-model inconsistencies, and refining predictions iteratively without access to model internals or retraining. ORCA also stores intermediate reasoning traces, which supports auditable decision-making. Though designed primarily to mitigate object-level hallucinations, ORCA also exhibits emergent adversarial robustness without requiring adversarial training or defense mechanisms. We evaluate ORCA across three settings: (1) clean images on hallucination benchmarks, (2) adversarially perturbed images without defense, and (3) adversarially perturbed images with defense applied. On the POPE hallucination benchmark, ORCA improves standalone LVLM performance by +3.64\% to +40.67\% across different subsets. Under adversarial perturbations on POPE, ORCA achieves an average accuracy gain of +20.11\% across LVLMs. When combined with defense techniques on adversarially perturbed AMBER images, ORCA further improves standalone LVLM performance, with gains ranging from +1.20\% to +48.00\% across evaluation metrics. These results demonstrate that ORCA offers a promising path toward building more reliable and robust multimodal systems.

Regardless of the rapid development of artificial intelligence, abstractive summarisation is still challenging for sensitive and data-restrictive domains like medicine. With the increasing number of imaging, the relevance of automated tools for complex medical text summarisation is expected to become highly relevant. In this paper, we investigated the adaptation via fine-tuning process of a non-domain-specific abstractive summarisation encoder-decoder model family, and gave insights to practitioners on how to avoid over- and underfitting. We used PEGASUS and PEGASUS-X, on a medium-sized radiological reports public dataset. For each model, we comprehensively evaluated two different checkpoints with varying sizes of the same training data. We monitored the models' performances with lexical and semantic metrics during the training history on the fixed-size validation set. PEGASUS exhibited different phases, which can be related to epoch-wise double-descent, or peak-drop-recovery behaviour. For PEGASUS-X, we found that using a larger checkpoint led to a performance detriment. This work highlights the challenges and risks of fine-tuning models with high expressivity when dealing with scarce training data, and lays the groundwork for future investigations into more robust fine-tuning strategies for summarisation models in specialised domains.

Large language models (LLMs) have shown strong capabilities, enabling concise, context-aware answers in question answering (QA) tasks. The lack of transparency in complex LLMs has inspired extensive research aimed at developing methods to explain large language behaviors. Among existing explanation methods, natural language explanations stand out due to their ability to explain LLMs in a self-explanatory manner and enable the understanding of model behaviors even when the models are closed-source. However, despite these promising advancements, there is no existing work studying how to provide valid uncertainty guarantees for these generated natural language explanations. Such uncertainty quantification is critical in understanding the confidence behind these explanations. Notably, generating valid uncertainty estimates for natural language explanations is particularly challenging due to the auto-regressive generation process of LLMs and the presence of noise in medical inquiries. To bridge this gap, in this work, we first propose a novel uncertainty estimation framework for these generated natural language explanations, which provides valid uncertainty guarantees in a post-hoc and model-agnostic manner. Additionally, we also design a novel robust uncertainty estimation method that maintains valid uncertainty guarantees even under noise. Extensive experiments on QA tasks demonstrate the desired performance of our methods.

In time series forecasting, capturing recurrent temporal patterns is essential; decomposition techniques make such structure explicit and thereby improve predictive performance. Variational Mode Decomposition (VMD) is a powerful signal-processing method for periodicity-aware decomposition and has seen growing adoption in recent years. However, existing studies often suffer from information leakage and rely on inappropriate hyperparameter tuning. To address these issues, we propose VMDNet, a causality-preserving framework that (i) applies sample-wise VMD to avoid leakage; (ii) represents each decomposed mode with frequency-aware embeddings and decodes it using parallel temporal convolutional networks (TCNs), ensuring mode independence and efficient learning; and (iii) introduces a bilevel, Stackelberg-inspired optimisation to adaptively select VMD's two core hyperparameters: the number of modes (K) and the bandwidth penalty (alpha). Experiments on two energy-related datasets demonstrate that VMDNet achieves state-of-the-art results when periodicity is strong, showing clear advantages in capturing structured periodic patterns while remaining robust under weak periodicity.

Deep learning models are notoriously opaque. Existing explanation methods often focus on localized visual explanations for individual images. Concept-based explanations, while offering global insights, require extensive annotations, incurring significant labeling cost. We propose an approach that leverages user-defined part labels from a limited set of images and efficiently transfers them to a larger dataset. This enables the generation of global symbolic explanations by aggregating part-based local explanations, ultimately providing human-understandable explanations for model decisions on a large scale.

The rapid evolution of neural architectures - from multilayer perceptrons to large-scale Transformer-based models - has enabled language models (LLMs) to exhibit emergent agentic behaviours when equipped with memory, planning, and external tool use. However, their inherent stochasticity and multi-step decision processes render classical evaluation methods inadequate for diagnosing agentic performance. This work introduces a diagnostic framework for expert systems that not only evaluates but also facilitates the transfer of expert behaviour into LLM-powered agents. The framework integrates (i) curated golden datasets of expert annotations, (ii) silver datasets generated through controlled behavioural mutation, and (iii) an LLM-based Agent Judge that scores and prescribes targeted improvements. These prescriptions are embedded into a vectorized recommendation map, allowing expert interventions to propagate as reusable improvement trajectories across multiple system instances. We demonstrate the framework on a multi-agent recruiter-assistant system, showing that it uncovers latent cognitive failures - such as biased phrasing, extraction drift, and tool misrouting - while simultaneously steering agents toward expert-level reasoning and style. The results establish a foundation for standardized, reproducible expert behaviour transfer in stochastic, tool-augmented LLM agents, moving beyond static evaluation to active expert system refinement.